354-0626/02 – Locomotion Subsystems for Service Robots 1 (LSpSR1)

Gurantor departmentDepartment of RoboticsCredits4
Subject guarantordoc. Ing. Zdenko Bobovský, PhD.Subject version guarantordoc. Ing. Zdenko Bobovský, PhD.
Study levelundergraduate or graduateRequirementCompulsory
Year1Semesterwinter
Study languageEnglish
Year of introduction2021/2022Year of cancellation
Intended for the facultiesFSIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
BEM0008 Ing. Jan Bém
BOB0001 doc. Ing. Zdenko Bobovský, PhD.
HEC0039 Ing. Dominik Heczko, Ph.D.
KAR54 Ing. Ladislav Karník, CSc.
PAS0067 Ing. Robert Pastor, Ph.D.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 2+2

Subject aims expressed by acquired skills and competences

In this course, students will be acquainted with chassis of chassis and robotic systems. They will learn how to design and customize such a chassis for the defined service scenario.

Teaching methods

Lectures
Tutorials
Project work

Summary

In the course, students will get acquainted with the wheel and crawler chassis of service robotic systems. They will learn how to design and dimension chassis for the required service scenario. They will also be introduced to various ways of steering wheel and crawler chassis.

Compulsory literature:

[1] TAKAHASHI, Yoshihiko.Service robot applications. Croatia : In-Teh, 2008., ISBN 978-953-7619-00-8 [2] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055 [3] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008, ISBN 9780429131226 [4] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055

Recommended literature:

[1] AHN, Ho Seok.Advances in service robotics. Croatia : In-Teh, 2008. ISBN 978-953-7619-02-2 [2] Xie M., Dubowsky S., Fontaine J.-G., Tokhi M. O. Virk G. S.. Advances in climbing and walking robots, World Scientific Publishing Company, 2007, ISBN 978-981-270-815-1 [3] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8

Way of continuous check of knowledge in the course of semester

Continuous check and point evaluation of exercise results. The result is a semestral project.

E-learning

Use of university system LMS Moodle

Other requirements

There are no additional requirements for the student.

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Lecture: 1. Wheel chassis 2. Functional subgroups, Control 3. Mechanics of wheel movement, Basic calculations of wheel chassis I 4. Basic calculations of wheel chassis II, 5. Statically stable wheel systems - motion mechanics and basic calculations, examples of solutions, control 6. Statically unstable wheel systems - mechanics of motion and basic calculations, examples of solutions, control 7. Crawler chassis 8. Functional subgroups, crawler control, motion mechanics I. 9. Mechanics of crawler movement I. 10. Mechanics of crawler movement II. 11. Mechanics of crawler movement III. 12. Two and three track crawlers 13. Four or more track crawlers 14. Development trends Exercises: 1. Project assignment 2. Application of service scenario methodology 3. Determination of functional and organ structure 4. Design of wheel chassis kinematics and selection of HW components 5. Elaboration of rough building structure I. 6. Elaboration of rough building structure II. 7. Preliminary calculation 8. Model transfer to the simulation environment 9. Simulation in the testing environment 10. Simulation in the testing environment 11. Simulation in the test environment 12. Design of mechanical structure 13. Control calculations 14. Submission and defense of the project

Conditions for subject completion

Conditions for completion are defined only for particular subject version and form of study

Occurrence in study plans

Academic yearProgrammeField of studySpec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2022/2023 (N0719A270010) Robotics (S03) Service Robotics P English Ostrava 1 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction

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